std_msgs/Header header

time traj_start_time

geometry_msgs/Vector3[] innerpoints
float64[] t_pts

geometry_msgs/Vector3 init_p
geometry_msgs/Vector3 init_v
geometry_msgs/Vector3 init_a
geometry_msgs/Vector3 tail_p
geometry_msgs/Vector3 tail_v
geometry_msgs/Vector3 tail_a

geometry_msgs/Vector3 start_position

geometry_msgs/Vector3 ICR